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   <div id="projectname">traj_gen
   &#160;<span id="projectnumber">2.0</span>
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   <div id="projectbrief">trajectory generation module</div>
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<a href="_r_e_a_d_m_e_8md.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;# traj_gen </div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;&lt;img src=&quot;https://github.com/icsl-Jeon/traj_gen/blob/master/img/intro.png&quot;&gt; </div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;**(left)** piecewise polynomial path obtained **(right)** multiple safe corridors in subinterval </div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;&lt;img src=&quot;https://github.com/icsl-Jeon/traj_gen/blob/master/img/run_video.gif&quot;&gt;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;- **(running traj_gen)** step by step tutorial  </div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;## 0. Release notes</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;#### 2019/5/16</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;QSlider was added. As of now, *traj_gen* can accommodate height input from user. Adjust slider for height and then select waypoint. In this way, height value will be encoded together(see below).    </div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;&lt;img src=&quot;https://github.com/icsl-Jeon/traj_gen/blob/master/img/gui_update.png&quot;&gt;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;## 1 Installation </div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;### 1.1 Dependencies </div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;#### (0) ROS and qt related packages</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;#### (1) qpOASES </div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;- The package bases qpOASES as quadratic programming solver.  Please refer  https://projects.coin-or.org/qpOASES and install the library. (make sure `sudo make install` after build of qpOASES)</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;- Let the qpOASES package direcotry ${qpOASES_SRC}. Please insert your qpOASES directory in CMakeList.txt </div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;```</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;## System dependencies are found with CMake&#39;s conventions</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;find_package(Boost REQUIRED COMPONENTS system)</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;// here insert your qpOASES directory </div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;set(qpOASES_SRC /home/jbs/lib/qpOASES-3.2.1)</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;file(GLOB_RECURSE qpOASES_LIBS ${qpOASES_SRC}/src/*.cpp)</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;```</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;## 2 ROS Node API</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;### 2.1 Published Topics </div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; * control_pose [geometry_msgs/PoseStamped] : published topic for desired control point of current time step  </div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; * safe_corridor [visualization_msgs/Marker] : the safe corridor marker</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; * trajectory [nav_msgs/Path] : generated trajectory </div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; * trajectory_knots [visualization_msgs/Marker] : the points on the path evaluated each waypoint time </div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; * waypoints_marker [visualization_msgs/MarkerArray] : the recieved waypoints from user</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;### 2.2 Subscribed Topics </div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; * /waypoint [geometry_msgs/PoseStamped] : waypoint input from Rvis by user</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;### 2.3 Parameters in Launch </div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; * world_frame_id : the world frame id. (default : /world)</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; * waypoint_topic : the topic name by user input </div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;## 3 USAGE </div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;### 3.1 Qt gui</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;&lt;img src=&quot;https://github.com/icsl-Jeon/traj_gen/blob/master/img/traj_gen.png&quot;&gt; </div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;This library provides interface where you can specifiy a sequence of waypoints from Rviz </div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;(1) ROS connect : please push the button at the beginning while roscore is running </div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;(2) select waypoints : waypoints insertion from rviz is allowed while this button is clicked </div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;(3) trajectory generation : quadratic programming with assigned parameters</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;(4) publish : the time allocation of the trajectory is equal division from 0 to &quot;simulation tf&quot; of gui. A desired control point will be published in *geometry_msg/PoseStamped* message type. The evaluation time for control point will be paused by re-clicking (still publishing). If you want to evaluate the trajectory of interest again from the start, Then release the button and re-create the same trajectory with *Traj generation* button. </div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;(5) manage waypoints : please provide the absolute of directory for txt file </div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;(6) textbox. important message will appear </div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;### waypoints selection from user</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;&lt;img src=&quot;https://github.com/icsl-Jeon/traj_gen/blob/master/img/traj_gen-2.png&quot;&gt; </div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;*You can also save and load the waypoints in txt file format. In that way, you may assign the heights for each waypoint*</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;## 4 Alogrithm </div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;This package is based on minimum jerk or snap with motion primitives of polynomials </div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;**refer**</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;Mellinger, Daniel, and Vijay Kumar. &quot;Minimum snap trajectory generation and control for quadrotors.&quot; 2011 IEEE International Conference on Robotics and Automation. IEEE, 2011.</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;* * *</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;### 4.1 Waypoints </div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;&lt;img src=&quot;https://github.com/icsl-Jeon/traj_gen/blob/master/img/hard_vs_soft.png&quot;&gt; </div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;#### (1) Soft waypoints</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;not necessarily pass through the specified waypoints. But it can minimize jerk more.</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;#### (2) Hard waypoints</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;the waypoints will be passed exactly as hard constraints </div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;* * *</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;### 4.2 Corridor</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;&lt;img src=&quot;https://github.com/icsl-Jeon/traj_gen/blob/master/img/explain_corridor.jpg&quot;&gt; </div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;#### (1) multiple sub boxes between waypoints which is axis-parallel </div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;Number of constraints will be increased but x,y,z can be solved independently.</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;   </div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;In general, imposing too many sub constraints will be infeasible for polynomial curves </div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;#### (2) single box between waypoints (sitll developing)</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;Number of constraints will be decreased but x,y,z cannot be solved independently</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;## 5 Issues </div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; * please avoid using polynomial order 6 for the case where you minimize the jerk squared integral (objective derivate = 3)</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;   </div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div></div><!-- fragment --></div><!-- contents -->
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